joint_calibration_controller.h
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00034 
00035 #ifndef PR2_JOINT_CALIBRATION_CONTROLLER
00036 #define PR2_JOINT_CALIBRATION_CONTROLLER
00037 
00038 #include "ros/node_handle.h"
00039 #include "pr2_mechanism_model/robot.h"
00040 #include "robot_mechanism_controllers/joint_velocity_controller.h"
00041 #include "realtime_tools/realtime_publisher.h"
00042 #include "std_msgs/Empty.h"
00043 #include "pr2_controllers_msgs/QueryCalibrationState.h"
00044 
00045 
00046 namespace controller
00047 {
00048 
00049 class JointCalibrationController : public pr2_controller_interface::Controller
00050 {
00051 public:
00052   JointCalibrationController();
00053   virtual ~JointCalibrationController();
00054 
00055   virtual bool init(pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n);
00056   virtual void starting();
00057   virtual void update();
00058 
00059   bool isCalibrated(pr2_controllers_msgs::QueryCalibrationState::Request& req, pr2_controllers_msgs::QueryCalibrationState::Response& resp);
00060 
00061 
00062 protected:
00063   pr2_mechanism_model::RobotState* robot_;
00064   ros::NodeHandle node_;
00065   ros::Time last_publish_time_;
00066   ros::ServiceServer is_calibrated_srv_;
00067   boost::scoped_ptr<realtime_tools::RealtimePublisher<std_msgs::Empty> > pub_calibrated_;
00068 
00069   enum { INITIALIZED, BEGINNING, MOVING_TO_LOW, MOVING_TO_HIGH, CALIBRATED };
00070   int state_;
00071   int countdown_;
00072 
00073   double search_velocity_;
00074   double original_position_;
00075 
00076   pr2_hardware_interface::Actuator *actuator_;
00077   pr2_mechanism_model::JointState *joint_;
00078   boost::shared_ptr<pr2_mechanism_model::Transmission> transmission_;
00079 
00080   controller::JointVelocityController vc_;
00081 };
00082 
00083 }
00084 
00085 
00086 #endif


pr2_calibration_controllers
Author(s): Stuart Glaser
autogenerated on Thu Aug 27 2015 14:23:03